public SVector(SVector other) : this(yarpPINVOKE.new_SVector__SWIG_1(SVector.getCPtr(other)), true)
{
if (yarpPINVOKE.SWIGPendingException.Pending)
{
throw yarpPINVOKE.SWIGPendingException.Retrieve();
}
}
public Collision(Segment s1, Segment s2, Point point)
{
S1 = s1;
S2 = s2;
Point = point;
var segment = new Segment(S1.P1, Point);
DistanceToInitialS1 = segment.Distance;
var refractionVector = new SVector(S1.P2.X - Point.X, S1.P2.Y - Point.Y);
// vertical case
if (s2.P1.X == s2.P2.X)
{
refractionVector.X = -refractionVector.X;
}
else
{
refractionVector.Y = -refractionVector.Y;
}
ReflectedPosition = new Point(point.X + refractionVector.X, point.Y + refractionVector.Y);
var reflectionSegment = new Segment(Point, ReflectedPosition);
ReflectionAngle = reflectionSegment.Angle;
}
public SVectorEnumerator(SVector collection)
{
collectionRef = collection;
currentIndex = -1;
currentObject = null;
currentSize = collectionRef.Count;
}
public void AddRange(SVector values)
{
yarpPINVOKE.SVector_AddRange(swigCPtr, SVector.getCPtr(values));
if (yarpPINVOKE.SWIGPendingException.Pending)
{
throw yarpPINVOKE.SWIGPendingException.Retrieve();
}
}
public void SetRange(int index, SVector values)
{
yarpPINVOKE.SVector_SetRange(swigCPtr, index, SVector.getCPtr(values));
if (yarpPINVOKE.SWIGPendingException.Pending)
{
throw yarpPINVOKE.SWIGPendingException.Retrieve();
}
}
public AliveData(string _key_name, int _health, string _character_name, SVector _position, SVector _euler)
{
keyName = _key_name;
health = _health;
characterName = _character_name;
position = _position;
euler = _euler;
}
public static bool LineSegementsIntersect(SVector p, SVector p2, SVector q, SVector q2,
out SVector intersection, bool considerCollinearOverlapAsIntersect = false)
{
intersection = new SVector();
var r = p2 - p;
var s = q2 - q;
var rxs = r.Cross(s);
var qpxr = (q - p).Cross(r);
// If r x s = 0 and (q - p) x r = 0, then the two lines are collinear.
if (rxs.IsZero() && qpxr.IsZero())
{
// 1. If either 0 <= (q - p) * r <= r * r or 0 <= (p - q) * s <= * s
// then the two lines are overlapping,
if (considerCollinearOverlapAsIntersect)
{
if ((0 <= (q - p) * r && (q - p) * r <= r * r) || (0 <= (p - q) * s && (p - q) * s <= s * s))
{
return(true);
}
}
// 2. If neither 0 <= (q - p) * r = r * r nor 0 <= (p - q) * s <= s * s
// then the two lines are collinear but disjoint.
// No need to implement this expression, as it follows from the expression above.
return(false);
}
// 3. If r x s = 0 and (q - p) x r != 0, then the two lines are parallel and non-intersecting.
if (rxs.IsZero() && !qpxr.IsZero())
{
return(false);
}
// t = (q - p) x s / (r x s)
var t = (q - p).Cross(s) / rxs;
// u = (q - p) x r / (r x s)
var u = (q - p).Cross(r) / rxs;
// 4. If r x s != 0 and 0 <= t <= 1 and 0 <= u <= 1
// the two line segments meet at the point p + t r = q + u s.
if (!rxs.IsZero() && (0 <= t && t <= 1) && (0 <= u && u <= 1))
{
// We can calculate the intersection point using either t or u.
intersection = p + t * r;
// An intersection was found.
return(true);
}
// 5. Otherwise, the two line segments are not parallel but do not intersect.
return(false);
}
static void Main(string[] args)
{
Network.init();
Console.WriteLine("----------------------------------");
Console.WriteLine("Convergence Divergence Zone Module");
Console.WriteLine("----------------------------------");
ResourceFinder rf = new ResourceFinder();
rf.setDefaultContext("MMCM/conf");
//Workaround the "--from" issue
bool loadingFromWeights = false;
string configFile = "defaultMap.ini";
for (int i = 0; i < args.Count(); i++)
{
if (args[i] == "--from")
{
configFile = args[i + 1];
}
if (args[i] == "--load")
{
loadingFromWeights = true;
configFile = args[i + 1];
}
}
if (!loadingFromWeights)
{
rf.setDefaultConfigFile(configFile);
}
SVector argsVect = new SVector(args);
rf.configure("MMCM_ROOT", argsVect);
IConvergenceZone cvz = null;
if (loadingFromWeights)
{
Console.Write("Loading MMCM from weights file...");
string path = rf.findFile(configFile).c_str();
Console.WriteLine(path);
cvz = CVZFactory.Create(path);
}
else
{
cvz = CVZFactory.Create(rf);
}
Application.EnableVisualStyles();
MMCM_ControlPanel form = new MMCM_ControlPanel(cvz as CVZ_MMCM);
Application.Run(form);
}
static void Main(string[] args)
{
Network.init();
ResourceFinder rf = new ResourceFinder();
bool loadingFromWeights = false;
string configFile = "defaultMap.ini";
for (int i = 0; i < args.Count(); i++)
{
if (args[i] == "--from")
{
configFile = args[i + 1];
}
if (args[i] == "--load")
{
loadingFromWeights = true;
configFile = args[i + 1];
}
}
if (!loadingFromWeights)
{
rf.setDefaultConfigFile(configFile);
}
rf.setDefaultContext("MMCM/conf");
SVector argsVect = new SVector(args);
rf.configure("MMCM_ROOT", argsVect);
string mapType = CVZFactory.GetCvzType(rf);
switch (mapType)
{
case "MMCM":
{
RFModuleMMCM module = new RFModuleMMCM();
module.configure(rf);
module.runModule();
break;
}
case "CTPC":
{
RFModuleCTPC module = new RFModuleCTPC();
module.configure(rf);
module.runModule();
break;
}
default:
throw new Exception("Unknown CVZ type");
}
}
public SVector GetRange(int index, int count)
{
global::System.IntPtr cPtr = yarpPINVOKE.SVector_GetRange(swigCPtr, index, count);
SVector ret = (cPtr == global::System.IntPtr.Zero) ? null : new SVector(cPtr, true);
if (yarpPINVOKE.SWIGPendingException.Pending)
{
throw yarpPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public static SVector Repeat(string value, int count)
{
global::System.IntPtr cPtr = yarpPINVOKE.SVector_Repeat(value, count);
SVector ret = (cPtr == global::System.IntPtr.Zero) ? null : new SVector(cPtr, true);
if (yarpPINVOKE.SWIGPendingException.Pending)
{
throw yarpPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public static bool GetCollisionPoint(Segment s1, Segment s2, out Collision collision)
{
collision = null;
var v1 = new SVector(s1.P1.X, s1.P1.Y);
var v2 = new SVector(s1.P2.X, s1.P2.Y);
var v3 = new SVector(s2.P1.X, s2.P1.Y);
var v4 = new SVector(s2.P2.X, s2.P2.Y);
if (SegmentHelper.LineSegementsIntersect(v1, v2, v3, v4, out var collisionPoint))
{
var collisionPos = new Point(collisionPoint.X, collisionPoint.Y);
collision = new Collision(s1, s2, collisionPos);
return(true);
}
return(false);
}
public void Set(SVector Obj_)
{
Pos.Set(Obj_.Pos);
Dir.Set(Obj_.Dir);
}
private void HandleCollisionWithBlock(IPhysicalView physicalView, SVector intersectionVector)
{
}
/// <summary>
/// Could be done at the same time as objects collisions,
/// A wall could be an object with a resistance force emited on impact
/// </summary>
private void DetectWallColisions()
{
foreach (var physicalView in _physicalViews)
{
foreach (var collisionPoint in physicalView.CollisionPoints)
{
var cornerX = physicalView.RealX + collisionPoint.X;
var cornerY = physicalView.RealY + collisionPoint.Y;
var blockX = (int)Math.Round(cornerX / _blockSize);
var blockY = (int)Math.Round(cornerY / _blockSize);
var block = _mapData.GetBlockByCoordinates(blockX, blockY);
if (block != null)
{
var previousCornerX = cornerX - physicalView.V.X;
var previousCornerY = cornerY - physicalView.V.Y;
var finalCornerVector = new SVector(cornerX, cornerY);
var previousVectorCornerVector = new SVector(previousCornerX, previousCornerY);
var topLeftVector = new SVector((blockX - 0.5) * _blockSize, (blockY - 0.5) * _blockSize);
var topRightVector = new SVector((blockX + 0.5) * _blockSize, (blockY - 0.5) * _blockSize);
var bottomRightVector = new SVector((blockX + 0.5) * _blockSize, (blockY + 0.5) * _blockSize);
var bottomLeftVector = new SVector((blockX - 0.5) * _blockSize, (blockY + 0.5) * _blockSize);
SVector intersectionVector;
if (SegmentHelper.LineSegementsIntersect(previousVectorCornerVector, finalCornerVector,
topLeftVector, topRightVector, out intersectionVector))
{
_logger.Log($"intersection ! {intersectionVector.X} | {intersectionVector.Y}");
HandleCollisionWithBlock(physicalView, intersectionVector);
physicalView.V.Y = -physicalView.V.Y;
physicalView.RealX += (float)(finalCornerVector.X - intersectionVector.X);
physicalView.RealY += (float)(finalCornerVector.Y - intersectionVector.Y);
}
else if (SegmentHelper.LineSegementsIntersect(previousVectorCornerVector, finalCornerVector,
topRightVector, bottomRightVector, out intersectionVector))
{
_logger.Log($"intersection ! {intersectionVector.X} | {intersectionVector.Y}");
HandleCollisionWithBlock(physicalView, intersectionVector);
physicalView.V.X = -physicalView.V.X;
physicalView.RealX += (float)(finalCornerVector.X - intersectionVector.X);
physicalView.RealY += (float)(finalCornerVector.Y - intersectionVector.Y);
}
else if (SegmentHelper.LineSegementsIntersect(previousVectorCornerVector, finalCornerVector,
bottomRightVector, bottomLeftVector, out intersectionVector))
{
_logger.Log($"intersection ! {intersectionVector.X} | {intersectionVector.Y}");
HandleCollisionWithBlock(physicalView, intersectionVector);
physicalView.V.Y = -physicalView.V.Y;
physicalView.RealX += (float)(finalCornerVector.X - intersectionVector.X);
physicalView.RealY += (float)(finalCornerVector.Y - intersectionVector.Y);
}
else if (SegmentHelper.LineSegementsIntersect(previousVectorCornerVector, finalCornerVector,
bottomLeftVector, topLeftVector, out intersectionVector))
{
_logger.Log($"intersection ! {intersectionVector.X} | {intersectionVector.Y}");
HandleCollisionWithBlock(physicalView, intersectionVector);
physicalView.V.X = -physicalView.V.X;
physicalView.RealX += (float)(finalCornerVector.X - intersectionVector.X);
physicalView.RealY += (float)(finalCornerVector.Y - intersectionVector.Y);
}
}
}
}
}
public ObjectData(string _key_name, SVector _position, SVector _euler)
{
keyName = _key_name;
position = _position;
euler = _euler;
}
public Vector3(SVector old)
{
pX = old.pX;
pY = old.pY;
pZ = old.pZ;
}
public static extern void SetSVectorProp(IntPtr node, [MarshalAs(UnmanagedType.LPStr)] string name,
SVector val, [MarshalAs(UnmanagedType.LPStr)] string _typename = "ISSilentObject");
public Vector3(SVector old)
{
pX = old.pX;
pY = old.pY;
pZ = old.pZ;
}
internal static global::System.Runtime.InteropServices.HandleRef getCPtr(SVector obj)
{
return((obj == null) ? new global::System.Runtime.InteropServices.HandleRef(null, global::System.IntPtr.Zero) : obj.swigCPtr);
}
public bool configure(string policyName, SVector argv, bool skipFirstArgument)
{
bool ret = yarpPINVOKE.ResourceFinder_configure__SWIG_3(swigCPtr, policyName, SVector.getCPtr(argv), skipFirstArgument);
if (yarpPINVOKE.SWIGPendingException.Pending) throw yarpPINVOKE.SWIGPendingException.Retrieve();
return ret;
}
public SVector(SVector Obj_)
{
Pos = Obj_.Pos;
Dir = Obj_.Dir;
}
